CN107856856A - A kind of Flyable spherical robot - Google Patents
A kind of Flyable spherical robot Download PDFInfo
- Publication number
- CN107856856A CN107856856A CN201711193778.9A CN201711193778A CN107856856A CN 107856856 A CN107856856 A CN 107856856A CN 201711193778 A CN201711193778 A CN 201711193778A CN 107856856 A CN107856856 A CN 107856856A
- Authority
- CN
- China
- Prior art keywords
- horn
- flyable
- fuselage
- spherical robot
- rudder face
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- 238000010146 3D printing Methods 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 239000011347 resin Substances 0.000 claims description 3
- 229920005989 resin Polymers 0.000 claims description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims 1
- 229910052799 carbon Inorganic materials 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 239000000835 fiber Substances 0.000 claims 1
- 238000005096 rolling process Methods 0.000 abstract description 10
- 238000012913 prioritisation Methods 0.000 description 7
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/061—Frames
- B64C1/063—Folding or collapsing to reduce overall dimensions, e.g. foldable tail booms
Abstract
The present invention discloses a kind of Flyable spherical robot, and the Flyable spherical robot is big for traditional rotor unmanned plane during flying energy loss, and exposed to outer safety problem easily occurs for rotor.Ball shape robot is more serious by landform restriction ratio, and it is then impassable to run into obstacle, it is impossible to the problems such as realizing obstacle crossing function.Propose that a kind of structure is novel, foldable Flyable spherical robot；The movement characteristic of ground ball shape robot is combined with the flexible feature of aircraft so that spherical flying robot can select optimal motion mode according to surrounding environment and work requirements.The Flyable spherical robot includes two horns, the drive device in a fuselage, and spherical shell.Vertical flight, hovering can be realized during the Flyable spherical robot flight, turns to flight, can preferably realize flight function；Left and right rolling, front and rear rolling etc. can be realized during rolling, preferable rolling function can be realized.
Description
Technical field
The present invention relates to robot and air line field, more particularly to Flyable spherical robot.
Background technology
Ball shape robot extensively using with the field such as industry, national defence and agricultural because motion flexibly, the spy such as efficiency height
Point is favored by many people.But ball shape robot is more serious by landform restriction ratio, and it is then impassable to run into obstacle, it is impossible to real
Existing obstacle crossing function.
Unmanned plane especially rotor wing unmanned aerial vehicle has the advantages that flying speed is fast, VTOL, also by every country
Pay attention to.But current rotor wing unmanned aerial vehicle flight energy loss is big, exposed to outer safety problem easily occurs for rotor.
The content of the invention
In order to solve problem above, the present invention provides a kind of structure novel Flyable spherical robot；By the spherical machine in ground
The movement characteristic of device people combines with the flexible feature of aircraft so that spherical flying robot can according to surrounding environment and
Work requirements select optimal motion mode.This Flyable spherical robot can avoid the blade of rotor from exposing simultaneously, and then
Have an accident.
The present invention uses following technical scheme：
A kind of Flyable spherical robot, comprising two horns, include fuselage, the first to the second horn, one group of rudder face, first to
Four steering wheels and the first to the 3rd rotor module；
The fuselage is in hollow ball, and its both sides, which is provided with, to be used to install the first horn, the vacancy of the second horn；
First horn, the second horn are in cambered surface, and its upper end is equipped with rotating shaft；
First horn, the second horn are hinged with fuselage both sides respectively by the rotating shaft of its upper end so that the first horn, second
Horn can freely rotate around its rotating shaft relative to the fuselage；
First steering wheel, the second steering wheel are symmetricly set on fuselage both sides, wherein, the output end of first steering wheel and described
Rotating shaft on one horn is connected, for controlling the opening and closing degree between first horn and fuselage；Second steering wheel it is defeated
The rotating shaft gone out on end and second horn is connected, for controlling the opening and closing degree between second horn and fuselage；
When first horn, the second horn and fuselage fully come together, complete hollow ball is formed；
Described first to the 3rd rotor module includes propeller and brushless electric machine, wherein, the output end and rotor of brushless electric machine
Rotating shaft be fixedly linked；
Described first to the 3rd rotor module is separately positioned on the first horn inwall center, the second horn inwall center, in fuselage
The summit of wall, it is used to provide lift；
One group of rudder face includes the first rudder face and the second rudder face, and first rudder face and the second rudder face are symmetrical airfoil；
3rd steering wheel, the 4th steering wheel are arranged under the 3rd rotor module, its output end respectively with the first rudder face, the second rudder
Face is connected, and is respectively used to control the first rudder face, the second rudder face to enter horizontal deflection.
As a kind of further prioritization scheme of Flyable spherical robot of the present invention, first horn, the second horn, machine
Body is integrally manufactured by 3D printing, and 3D printing material is light-cured resin.
As a kind of further prioritization scheme of Flyable spherical robot of the present invention, power supply mould is provided with the fuselage
Block and winged control module；
The power module is connected with flying control module, for providing electric power；
The winged control module includes the electrically tune of gyroscope, accelerometer, magnetometer, baroceptor, GPS unit, first to the 3rd
Fast device and control unit；
The gyroscope is used for the rotational angular velocity speed for sensing Flyable spherical robot, and passes it to the control mould list
Member；
The accelerometer is used for the acceleration for sensing Flyable spherical robot, and passes it to described control unit；
The magnetometer is used for the orientation for sensing Flyable spherical robot, and passes it to described control unit；
The height of the baroceptor sensing Flyable spherical robot, and pass it to described control unit；
The coordinate of the GPS unit sensing Flyable spherical robot, and pass it to described control unit；
Described control unit respectively with gyroscope, accelerometer, magnetometer, baroceptor, GPS unit, first to fourth steering wheel
It is electrically connected, described control unit also passes through the nothing in the first to the 3rd electron speed regulator and the first to the 3rd rotor module respectively
Brush motor is correspondingly electrically connected, and described control unit is used for mono- according to gyroscope, accelerometer, magnetometer, baroceptor, GPS
The steering wheel of actuated signal control first to fourth of member, the work of the first to the 3rd electron speed regulator.
It is complete using 5,030 2 leaves as a kind of further prioritization scheme of Flyable spherical robot of the present invention, the propeller
Carbon fiber spiral oar.
As a kind of further prioritization scheme of Flyable spherical robot of the present invention, the fuselage, the first horn, the second machine
Arm uses symmetrical hollow processing.
As a kind of further prioritization scheme of Flyable spherical robot of the present invention, at the described first to the 3rd rotor module
In on same plane.
As a kind of further prioritization scheme of Flyable spherical robot of the present invention, first horn, the second horn phase
Rotation angle range to fuselage is 0 ° to 90 °.
As a kind of further prioritization scheme of Flyable spherical robot of the present invention, the power module uses 11.1V lithiums
Battery.
Flyable spherical robot provided by the invention, compared with prior art, there is following gain effect：
The present invention can arbitrarily change two kinds of motion morphologies, when Flyable spherical robot falls in the air, can directly control
Fuselage both sides steering wheel, makes horn be rotated by 90 ° to form folded state, is effectively protected airframe structure and airborne equipment, and prevent
Rotor is exposed to and causes danger outside.
Brief description of the drawings
Fig. 1 is the structural representation of the deployed condition of the present invention；
Fig. 2 is the structural representation of the folded state of the present invention；
Fig. 3 is the 3rd rotor module, the 3rd to the 4th steering wheel, the structural representation of the first to the second rudder face in fuselage of the present invention；
Fig. 4 is the 3rd steering wheel, the 4th steering wheel and the first rudder face in the present invention, the structural representation of the second rudder face connection.
In figure, 1- fuselages, 2- wings, 3- brushless electric machines, 4- propellers, the rudder faces of 5- first, the rudder faces of 6- second, 7- the 3rd
Steering wheel, the steering wheels of 8- the 4th.
Embodiment
Technical scheme is described in further detail below in conjunction with the accompanying drawings：
As shown in Figure 1 and Figure 2, the invention discloses a kind of Flyable spherical robot, comprising the first to the second horn, comprising fuselage,
The first to the second horn, one group of rudder face, first to fourth steering wheel and the first to the 3rd rotor module；
The fuselage is in hollow ball, and its both sides, which is provided with, to be used to install the first horn, the vacancy of the second horn；
First horn, the second horn are in cambered surface, and its upper end is equipped with rotating shaft；
First horn, the second horn are hinged with fuselage both sides respectively by the rotating shaft of its upper end so that the first horn, second
Horn can freely rotate around its rotating shaft relative to the fuselage；
First steering wheel, the second steering wheel are symmetricly set on fuselage both sides, wherein, the output end of first steering wheel and described
Rotating shaft on one horn is connected, for controlling the opening and closing degree between first horn and fuselage；Second steering wheel it is defeated
The rotating shaft gone out on end and second horn is connected, for controlling the opening and closing degree between second horn and fuselage；
When first horn, the second horn and fuselage fully come together, complete hollow ball is formed；
As shown in figure 3, the described first to the 3rd rotor module includes propeller and brushless electric machine, wherein, brushless electric machine it is defeated
The rotating shaft for going out end and rotor is fixedly linked；
Described first to the 3rd rotor module is separately positioned on the first horn inwall center, the second horn inwall center, in fuselage
The summit of wall, it is used to provide lift；
As shown in figure 4, one group of rudder face includes the first rudder face and the second rudder face, first rudder face and the second rudder face are symmetrical
Aerofoil profile；
3rd steering wheel, the 4th steering wheel are arranged under the 3rd rotor module, its output end respectively with the first rudder face, the second rudder
Face is connected, and is respectively used to control the first rudder face, the second rudder face to enter horizontal deflection.
Power module is provided with the fuselage and flies control module；
The power module is connected with flying control module, for providing electric power；
The winged control module includes the electrically tune of gyroscope, accelerometer, magnetometer, baroceptor, GPS unit, first to the 3rd
Fast device and control unit；
The gyroscope is used for the rotational angular velocity speed for sensing Flyable spherical robot, and passes it to the control mould list
Member；
The accelerometer is used for the acceleration for sensing Flyable spherical robot, and passes it to described control unit；
The magnetometer is used for the orientation for sensing Flyable spherical robot, and passes it to described control unit；
The height of the baroceptor sensing Flyable spherical robot, and pass it to described control unit；
The coordinate of the GPS unit sensing Flyable spherical robot, and pass it to described control unit；
Described control unit respectively with gyroscope, accelerometer, magnetometer, baroceptor, GPS unit, first to fourth steering wheel
It is electrically connected, described control unit also passes through the nothing in the first to the 3rd electron speed regulator and the first to the 3rd rotor module respectively
Brush motor is correspondingly electrically connected, and described control unit is used for mono- according to gyroscope, accelerometer, magnetometer, baroceptor, GPS
The steering wheel of actuated signal control first to fourth of member, the work of the first to the 3rd electron speed regulator.
The propeller uses the full carbon fiber spiral oar of 5,030 2 leaves.
The fuselage, the first horn, the second horn use symmetrical hollow processing.
Described first to the 3rd rotor module is in the same plane.
First horn, the second horn are 0 ° to 90 ° with respect to the rotation angle range of fuselage.
The power module uses 11.1V lithium batteries.
Fig. 1 is spherical unmanned plane during flying view of flying, when the spherical unmanned plane that flies is in folded state, control
First steering wheel and the second steering wheel, the first horn, the second horn horn is rotated by 90 ° expansion, form flight deployed condition.Described
One to the 3rd rotor module is in same level, direction of rotation and the first horn, the second machine of the 3rd rotor module propeller
The direction of rotation of propeller on arm is conversely with offset torque.The first rudder face, the second rudder face is controlled to carry out the deflection of travel direction.
Specific flying method is as follows：
The propeller of 3rd rotor module produces lift straight up under brushless electric machine drive, is carried for Flyable spherical robot
The power fed to, so as to control the elevating movement of Flyable spherical robot；At the same time the Flyable spherical robot utilizes the
Propeller on one horn, the second horn makes the spherical machine of flight come torsional forces caused by offsetting the propeller of the 3rd rotor module
Device people being capable of force balance.In addition the first horn, the second horn can also control the mode of itself revolution speed of propeller difference
The heading of the Flyable spherical robot is controlled, after adjusting direction, thrust is provided using two side screws, allows flight ball
Anthropomorphic robot is flown along the direction of needs.By the mutually coordinated cooperation of modules, enable Flyable spherical robot
Enough smoothly completions are taken off, aerial various flight attitudes, safe falling.
Fig. 2 is the spherical unmanned plane rolling condition schematic diagram that flies, when the spherical unmanned plane that flies is in deployed condition, control
First steering wheel and the second steering wheel, the first horn, the second horn is rotated by 90 ° closure, form roll fold state.
Specific rolling embodiment is as follows：
Control Flyable spherical robot along both sides rotor direction roll when, the first rotor module is clockwise（Top view）Rotation, the
Two rotor modules turn clockwise, and the 3rd rotor module makes the holding fuselage anterior-posterior balance of adaptability according to flight control system
Rotate, rotation direction is indefinite, and now, fuselage just has the turning torque of a side direction to the left, and fuselage will be turned over to the left
Rolling, the speed of rolling are determined by the rotary speed of the first rotor module, the second rotor module.
When control Flyable spherical robot edge vertically rolls with the direction of both sides rotor, the rotor of Flyable spherical robot the 3rd
Module loads to rudder face, caused air-flow, blows the first rudder face and the second rudder face, produces dynamic pressure, according to hydrodynamics primary
Exert sharp equation, it is known that the first rudder face of deflection and the second rudder face, it is possible to achieve the change of positive and negative direction reverse torque.When aircraft needs
When being overturn along the longitudinal direction, the rotation of center wing, then, the first rudder face and the second rudder face are carried out partially to front side simultaneously
Turn, the signal that both sides rotor is sent according to flight control system carries out the rotation of left-right balance, you can complete spherical body to before just
Fang Jinhang is rolled, and the speed of rolling is determined by the rotary speed of center rotor.
Control Flyable spherical robot along other directions roll when, such as left front, left back etc., by above two rolling square
Method is combined, and is then adjusted according to the signal instruction that flight control system is sent.
Fig. 4 is rudder face structural representation, and first rudder face, the second rudder face are arranged at below the 3rd rotor module, point
Do not controlled respectively by the 3rd steering wheel, the 4th steering wheel.First horn, the second horn, fuselage are integrally manufactured by 3D printing, and 3D is beaten
Print material is light-cured resin.
Those skilled in the art of the present technique are it is understood that unless otherwise defined, all terms used herein（Including skill
Art term and scientific terminology）With the general understanding identical meaning with the those of ordinary skill in art of the present invention.Also
It should be understood that those terms defined in such as general dictionary should be understood that with the context of prior art
The consistent meaning of meaning, and unless defined as here, will not be explained with the implication of idealization or overly formal.
Above-described embodiment, the purpose of the present invention, technical scheme and beneficial effect are carried out further
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not limited to this hair
It is bright, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc., it should be included in the present invention
Protection domain within.
Claims (8)
- A kind of 1. Flyable spherical robot, it is characterised in that comprising two horns, comprising fuselage, the first to the second horn, one group Rudder face, first to fourth steering wheel and the first to the 3rd rotor module；The fuselage is in hollow ball, and its both sides, which is provided with, to be used to install the first horn, the vacancy of the second horn；First horn, the second horn are in cambered surface, and its upper end is equipped with rotating shaft；First horn, the second horn are hinged with fuselage both sides respectively by the rotating shaft of its upper end so that the first horn, second Horn can freely rotate around its rotating shaft relative to the fuselage；First steering wheel, the second steering wheel are symmetricly set on fuselage both sides, wherein, the output end of first steering wheel and described Rotating shaft on one horn is connected, for controlling the opening and closing degree between first horn and fuselage；Second steering wheel it is defeated The rotating shaft gone out on end and second horn is connected, for controlling the opening and closing degree between second horn and fuselage；When first horn, the second horn and fuselage fully come together, complete hollow ball is formed；Described first to the 3rd rotor module includes propeller and brushless electric machine, wherein, the output end and rotor of brushless electric machine Rotating shaft be fixedly linked；Described first to the 3rd rotor module is separately positioned on the first horn inwall center, the second horn inwall center, in fuselage The summit of wall, it is used to provide lift；One group of rudder face includes the first rudder face and the second rudder face, and first rudder face and the second rudder face are symmetrical airfoil；3rd steering wheel, the 4th steering wheel are arranged under the 3rd rotor module, its output end respectively with the first rudder face, the second rudder Face is connected, and is respectively used to control the first rudder face, the second rudder face to enter horizontal deflection.
- 2. Flyable spherical robot according to claim 1, it is characterised in that first horn, the second horn, fuselage Integrally manufactured by 3D printing, 3D printing material is light-cured resin.
- 3. Flyable spherical robot according to claim 1, it is characterised in that be provided with power module in the fuselage With winged control module；The power module is connected with flying control module, for providing electric power；The winged control module includes the electrically tune of gyroscope, accelerometer, magnetometer, baroceptor, GPS unit, first to the 3rd Fast device and control unit；The gyroscope is used for the rotational angular velocity speed for sensing Flyable spherical robot, and passes it to the control mould list Member；The accelerometer is used for the acceleration for sensing Flyable spherical robot, and passes it to described control unit；The magnetometer is used for the orientation for sensing Flyable spherical robot, and passes it to described control unit；The height of the baroceptor sensing Flyable spherical robot, and pass it to described control unit；The coordinate of the GPS unit sensing Flyable spherical robot, and pass it to described control unit；Described control unit respectively with gyroscope, accelerometer, magnetometer, baroceptor, GPS unit, first to fourth steering wheel It is electrically connected, described control unit also passes through the nothing in the first to the 3rd electron speed regulator and the first to the 3rd rotor module respectively Brush motor is correspondingly electrically connected, and described control unit is used for mono- according to gyroscope, accelerometer, magnetometer, baroceptor, GPS The steering wheel of actuated signal control first to fourth of member, the work of the first to the 3rd electron speed regulator.
- 4. Flyable spherical robot according to claim 1, it is characterised in that the propeller uses the full carbon of 5,030 2 leaves Fiber spiral oar.
- 5. Flyable spherical robot according to claim 1, it is characterised in that the fuselage, the first horn, the second horn Use symmetrical hollow processing.
- 6. Flyable spherical robot according to claim 1, it is characterised in that the described first to the 3rd rotor module is in On same plane.
- 7. a kind of Flyable spherical robot according to claim 1, it is characterised in that first horn, the second horn Rotation angle range with respect to fuselage is 0 ° to 90 °.
- 8. Flyable spherical robot according to claim 3, it is characterised in that the power module is using 11.1V lithiums electricity Pond.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711193778.9A CN107856856A (en) | 2017-11-24 | 2017-11-24 | A kind of Flyable spherical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711193778.9A CN107856856A (en) | 2017-11-24 | 2017-11-24 | A kind of Flyable spherical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107856856A true CN107856856A (en) | 2018-03-30 |
Family
ID=61703495
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711193778.9A Pending CN107856856A (en) | 2017-11-24 | 2017-11-24 | A kind of Flyable spherical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107856856A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108549405A (en) * | 2018-04-24 | 2018-09-18 | 山东睿朗智能科技有限公司 | A kind of electric line inspection is used rides line robot control system for unmanned plane |
| CN109850117A (en) * | 2018-12-05 | 2019-06-07 | 中国航空工业集团公司成都飞机设计研究所 | A kind of multi-rotor aerocraft with walking function |
| CN110844069A (en) * | 2019-11-20 | 2020-02-28 | 北京特种机械研究所 | Miniature foldable wheel-shaped aircraft |
| CN113997738A (en) * | 2021-12-03 | 2022-02-01 | 江苏集萃智能制造技术研究所有限公司 | Spherical amphibious robot platform |
| CN115320738A (en) * | 2022-08-01 | 2022-11-11 | 煤炭科学技术研究院有限公司 | Amphibious spherical robot with external operation function |
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| CN113997738A (en) * | 2021-12-03 | 2022-02-01 | 江苏集萃智能制造技术研究所有限公司 | Spherical amphibious robot platform |
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| CN115320738A (en) * | 2022-08-01 | 2022-11-11 | 煤炭科学技术研究院有限公司 | Amphibious spherical robot with external operation function |
| CN115320738B (en) * | 2022-08-01 | 2023-09-29 | 煤炭科学技术研究院有限公司 | Amphibious spherical robot with external operation function |
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